merge -c1542 trunk: Avoided 'you'.
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/** \file
* EtherCAT sync manager methods.
*/
/*****************************************************************************/
#include "globals.h"
#include "slave.h"
#include "master.h"
#include "pdo.h"
#include "sync.h"
/*****************************************************************************/
/** Constructor.
*/
void ec_sync_init(
ec_sync_t *sync, /**< EtherCAT sync manager. */
ec_slave_t *slave /**< EtherCAT slave. */
)
{
sync->slave = slave;
sync->physical_start_address = 0x0000;
sync->default_length = 0x0000;
sync->control_register = 0x00;
sync->enable = 0x00;
ec_pdo_list_init(&sync->pdos);
}
/*****************************************************************************/
/** Copy constructor.
*/
void ec_sync_init_copy(
ec_sync_t *sync, /**< EtherCAT sync manager. */
const ec_sync_t *other /**< Sync manager to copy from. */
)
{
sync->slave = other->slave;
sync->physical_start_address = other->physical_start_address;
sync->default_length = other->default_length;
sync->control_register = other->control_register;
sync->enable = other->enable;
ec_pdo_list_init(&sync->pdos);
ec_pdo_list_copy(&sync->pdos, &other->pdos);
}
/*****************************************************************************/
/** Destructor.
*/
void ec_sync_clear(
ec_sync_t *sync /**< EtherCAT sync manager. */
)
{
ec_pdo_list_clear(&sync->pdos);
}
/*****************************************************************************/
/** Initializes a sync manager configuration page.
*
* The referenced memory (\a data) must be at least \a EC_SYNC_SIZE bytes.
*/
void ec_sync_page(
const ec_sync_t *sync, /**< Sync manager. */
uint8_t sync_index, /**< Index of the sync manager. */
uint16_t data_size, /**< Data size. */
ec_direction_t dir, /**< Direction (overrides the control byte,
if set to EC_DIR_INPUT or EC_DIR_OUTPUT). */
uint8_t *data /**> Configuration memory. */
)
{
// enable only if SII enable is set and size is > 0.
uint16_t enable = sync->enable && data_size;
uint8_t control = sync->control_register;
if (dir == EC_DIR_OUTPUT || dir == EC_DIR_INPUT) {
// override sync manager direction bits with dir parameter
EC_WRITE_BIT(&control, 2, dir == EC_DIR_OUTPUT ? 1 : 0);
EC_WRITE_BIT(&control, 3, 0);
}
if (sync->slave->master->debug_level)
EC_DBG("SM%u: Addr 0x%04X, Size %3u, Ctrl 0x%02X, En %u\n",
sync_index, sync->physical_start_address,
data_size, control, enable);
EC_WRITE_U16(data, sync->physical_start_address);
EC_WRITE_U16(data + 2, data_size);
EC_WRITE_U8 (data + 4, control);
EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
EC_WRITE_U16(data + 6, enable);
}
/*****************************************************************************/
/** Adds a Pdo to the list of known mapped Pdos.
*
* \return 0 on success, else < 0
*/
int ec_sync_add_pdo(
ec_sync_t *sync, /**< EtherCAT sync manager. */
const ec_pdo_t *pdo /**< Pdo to map. */
)
{
return ec_pdo_list_add_pdo_copy(&sync->pdos, pdo);
}
/*****************************************************************************/
/** Determines the default direction from the control register.
*/
ec_direction_t ec_sync_default_direction(
const ec_sync_t *sync /**< EtherCAT sync manager. */
)
{
switch ((sync->control_register & 0x0C) >> 2) {
case 0x0: return EC_DIR_INPUT;
case 0x1: return EC_DIR_OUTPUT;
default: return EC_DIR_INVALID;
}
}
/*****************************************************************************/